#ifndef __SOFTWARE_CHASSIS_H
#define __SOFTWARE_CHASSIS_H

#include "Hardware_Motor.h"

#define CHASSIS_SPEEDLEVEL_1    6000
#define CHASSIS_SPEEDLEVEL_2    7000
#define CHASSIS_SPEEDLEVEL_3    8000
#define CHASSIS_SPEEDLEVEL_4    9000
#define CHASSIS_SPEEDLEVEL_5    9900

typedef struct
{
    Motor_t *LF_Wheel;
    Motor_t *RF_Wheel;
    Motor_t *LB_Wheel;
    Motor_t *RB_Wheel;
} Chassis_t;

void Chassis_Init(void);
void Chassis_Move(int8_t vx, int8_t vy, int8_t turn, uint8_t SpeedLevel);

#endif // !__SOFTWARE_CHASSIS_H
